An electrical model with equivalent elements in a time-variant environment for an ionic-polymer-metal-composite system
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© 2016, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg. Ionic polymer metal composite (IPMC) is a kind of ionic electroactive polymer (EAP) smart material that can exhibit conspicuous deflection with low external voltages (~ 5 V). It can be cut in various sizes and shapes, and used and applied in robots and artificial muscles with the capability in aquatic operation. An IPMC strip can be modeled as a cantilever beam with a loading distribution on the surface. Nevertheless, the loading distribution is non-uniform due to the imperfect surface conductivity that causes four different imaginary loading distributions employed in our structural model. The difference can be up to 5 times (3:8 mm to 19 mm). In this paper, a novel linear time-variant (LTV) model is introduced and applied to model an IPMC system. This modeling method is different from previous linear time-invariant (LTI) models because the internal environment of IPMC may be unsteady due to mobile cations with water molecules. In addition, the influence of surface conductivity is simulated and proven based on this model. Finally, by applying this novel modeling method, hysteresis that exists in IPMC and affects the relationship between the output deflection and the corresponding input voltage, such as 0:1-, 0:2-, and 0:3-rad/s sinusoidal waves, has been shown and simulated.
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